--- /dev/null
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// Intel License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2002, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * The name of Intel Corporation may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "_cvaux.h"
+
+#if _MSC_VER >= 1200
+#pragma warning(disable:4786) // Disable MSVC warnings in the standard library.
+#pragma warning(disable:4100)
+#pragma warning(disable:4512)
+#endif
+#include <stdio.h>
+#include <map>
+#include <algorithm>
+#if _MSC_VER >= 1200
+#pragma warning(default:4100)
+#pragma warning(default:4512)
+#endif
+
+#define ARRAY_SIZEOF(a) (sizeof(a)/sizeof((a)[0]))
+
+static void FillObjectPoints(CvPoint3D32f *obj_points, CvSize etalon_size, float square_size);
+static void DrawEtalon(IplImage *img, CvPoint2D32f *corners,
+ int corner_count, CvSize etalon_size, int draw_ordered);
+static void MultMatrix(float rm[4][4], const float m1[4][4], const float m2[4][4]);
+static void MultVectorMatrix(float rv[4], const float v[4], const float m[4][4]);
+static CvPoint3D32f ImageCStoWorldCS(const Cv3dTrackerCameraInfo &camera_info, CvPoint2D32f p);
+static bool intersection(CvPoint3D32f o1, CvPoint3D32f p1,
+ CvPoint3D32f o2, CvPoint3D32f p2,
+ CvPoint3D32f &r1, CvPoint3D32f &r2);
+
+/////////////////////////////////
+// cv3dTrackerCalibrateCameras //
+/////////////////////////////////
+CV_IMPL CvBool cv3dTrackerCalibrateCameras(int num_cameras,
+ const Cv3dTrackerCameraIntrinsics camera_intrinsics[], // size is num_cameras
+ CvSize etalon_size,
+ float square_size,
+ IplImage *samples[], // size is num_cameras
+ Cv3dTrackerCameraInfo camera_info[]) // size is num_cameras
+{
+ CV_FUNCNAME("cv3dTrackerCalibrateCameras");
+ const int num_points = etalon_size.width * etalon_size.height;
+ int cameras_done = 0; // the number of cameras whose positions have been determined
+ CvPoint3D32f *object_points = NULL; // real-world coordinates of checkerboard points
+ CvPoint2D32f *points = NULL; // 2d coordinates of checkerboard points as seen by a camera
+ IplImage *gray_img = NULL; // temporary image for color conversion
+ IplImage *tmp_img = NULL; // temporary image used by FindChessboardCornerGuesses
+ int c, i, j;
+
+ if (etalon_size.width < 3 || etalon_size.height < 3)
+ CV_ERROR(CV_StsBadArg, "Chess board size is invalid");
+
+ for (c = 0; c < num_cameras; c++)
+ {
+ // CV_CHECK_IMAGE is not available in the cvaux library
+ // so perform the checks inline.
+
+ //CV_CALL(CV_CHECK_IMAGE(samples[c]));
+
+ if( samples[c] == NULL )
+ CV_ERROR( CV_HeaderIsNull, "Null image" );
+
+ if( samples[c]->dataOrder != IPL_DATA_ORDER_PIXEL && samples[c]->nChannels > 1 )
+ CV_ERROR( CV_BadOrder, "Unsupported image format" );
+
+ if( samples[c]->maskROI != 0 || samples[c]->tileInfo != 0 )
+ CV_ERROR( CV_StsBadArg, "Unsupported image format" );
+
+ if( samples[c]->imageData == 0 )
+ CV_ERROR( CV_BadDataPtr, "Null image data" );
+
+ if( samples[c]->roi &&
+ ((samples[c]->roi->xOffset | samples[c]->roi->yOffset
+ | samples[c]->roi->width | samples[c]->roi->height) < 0 ||
+ samples[c]->roi->xOffset + samples[c]->roi->width > samples[c]->width ||
+ samples[c]->roi->yOffset + samples[c]->roi->height > samples[c]->height ||
+ (unsigned) (samples[c]->roi->coi) > (unsigned) (samples[c]->nChannels)))
+ CV_ERROR( CV_BadROISize, "Invalid ROI" );
+
+ // End of CV_CHECK_IMAGE inline expansion
+
+ if (samples[c]->depth != IPL_DEPTH_8U)
+ CV_ERROR(CV_BadDepth, "Channel depth of source image must be 8");
+
+ if (samples[c]->nChannels != 3 && samples[c]->nChannels != 1)
+ CV_ERROR(CV_BadNumChannels, "Source image must have 1 or 3 channels");
+ }
+
+ CV_CALL(object_points = (CvPoint3D32f *)cvAlloc(num_points * sizeof(CvPoint3D32f)));
+ CV_CALL(points = (CvPoint2D32f *)cvAlloc(num_points * sizeof(CvPoint2D32f)));
+
+ // fill in the real-world coordinates of the checkerboard points
+ FillObjectPoints(object_points, etalon_size, square_size);
+
+ for (c = 0; c < num_cameras; c++)
+ {
+ CvSize image_size = cvSize(samples[c]->width, samples[c]->height);
+ IplImage *img;
+
+ // The input samples are not required to all have the same size or color
+ // format. If they have different sizes, the temporary images are
+ // reallocated as necessary.
+ if (samples[c]->nChannels == 3)
+ {
+ // convert to gray
+ if (gray_img == NULL || gray_img->width != samples[c]->width ||
+ gray_img->height != samples[c]->height )
+ {
+ if (gray_img != NULL)
+ cvReleaseImage(&gray_img);
+ CV_CALL(gray_img = cvCreateImage(image_size, IPL_DEPTH_8U, 1));
+ }
+
+ CV_CALL(cvCvtColor(samples[c], gray_img, CV_BGR2GRAY));
+
+ img = gray_img;
+ }
+ else
+ {
+ // no color conversion required
+ img = samples[c];
+ }
+
+ if (tmp_img == NULL || tmp_img->width != samples[c]->width ||
+ tmp_img->height != samples[c]->height )
+ {
+ if (tmp_img != NULL)
+ cvReleaseImage(&tmp_img);
+ CV_CALL(tmp_img = cvCreateImage(image_size, IPL_DEPTH_8U, 1));
+ }
+
+ int count = num_points;
+ bool found = cvFindChessBoardCornerGuesses(img, tmp_img, 0,
+ etalon_size, points, &count) != 0;
+ if (count == 0)
+ continue;
+
+ // If found is true, it means all the points were found (count = num_points).
+ // If found is false but count is non-zero, it means that not all points were found.
+
+ cvFindCornerSubPix(img, points, count, cvSize(5,5), cvSize(-1,-1),
+ cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 10, 0.01f));
+
+ // If the image origin is BL (bottom-left), fix the y coordinates
+ // so they are relative to the true top of the image.
+ if (samples[c]->origin == IPL_ORIGIN_BL)
+ {
+ for (i = 0; i < count; i++)
+ points[i].y = samples[c]->height - 1 - points[i].y;
+ }
+
+ if (found)
+ {
+ // Make sure x coordinates are increasing and y coordinates are decreasing.
+ // (The y coordinate of point (0,0) should be the greatest, because the point
+ // on the checkerboard that is the origin is nearest the bottom of the image.)
+ // This is done after adjusting the y coordinates according to the image origin.
+ if (points[0].x > points[1].x)
+ {
+ // reverse points in each row
+ for (j = 0; j < etalon_size.height; j++)
+ {
+ CvPoint2D32f *row = &points[j*etalon_size.width];
+ for (i = 0; i < etalon_size.width/2; i++)
+ std::swap(row[i], row[etalon_size.width-i-1]);
+ }
+ }
+
+ if (points[0].y < points[etalon_size.width].y)
+ {
+ // reverse points in each column
+ for (i = 0; i < etalon_size.width; i++)
+ {
+ for (j = 0; j < etalon_size.height/2; j++)
+ std::swap(points[i+j*etalon_size.width],
+ points[i+(etalon_size.height-j-1)*etalon_size.width]);
+ }
+ }
+ }
+
+ DrawEtalon(samples[c], points, count, etalon_size, found);
+
+ if (!found)
+ continue;
+
+ float rotVect[3];
+ float rotMatr[9];
+ float transVect[3];
+
+ cvFindExtrinsicCameraParams(count,
+ image_size,
+ points,
+ object_points,
+ const_cast<float *>(camera_intrinsics[c].focal_length),
+ camera_intrinsics[c].principal_point,
+ const_cast<float *>(camera_intrinsics[c].distortion),
+ rotVect,
+ transVect);
+
+ // Check result against an arbitrary limit to eliminate impossible values.
+ // (If the chess board were truly that far away, the camera wouldn't be able to
+ // see the squares.)
+ if (transVect[0] > 1000*square_size
+ || transVect[1] > 1000*square_size
+ || transVect[2] > 1000*square_size)
+ {
+ // ignore impossible results
+ continue;
+ }
+
+ CvMat rotMatrDescr = cvMat(3, 3, CV_32FC1, rotMatr);
+ CvMat rotVectDescr = cvMat(3, 1, CV_32FC1, rotVect);
+
+ /* Calc rotation matrix by Rodrigues Transform */
+ cvRodrigues2( &rotVectDescr, &rotMatrDescr );
+
+ //combine the two transformations into one matrix
+ //order is important! rotations are not commutative
+ float tmat[4][4] = { { 1.f, 0.f, 0.f, 0.f },
+ { 0.f, 1.f, 0.f, 0.f },
+ { 0.f, 0.f, 1.f, 0.f },
+ { transVect[0], transVect[1], transVect[2], 1.f } };
+
+ float rmat[4][4] = { { rotMatr[0], rotMatr[1], rotMatr[2], 0.f },
+ { rotMatr[3], rotMatr[4], rotMatr[5], 0.f },
+ { rotMatr[6], rotMatr[7], rotMatr[8], 0.f },
+ { 0.f, 0.f, 0.f, 1.f } };
+
+
+ MultMatrix(camera_info[c].mat, tmat, rmat);
+
+ // change the transformation of the cameras to put them in the world coordinate
+ // system we want to work with.
+
+ // Start with an identity matrix; then fill in the values to accomplish
+ // the desired transformation.
+ float smat[4][4] = { { 1.f, 0.f, 0.f, 0.f },
+ { 0.f, 1.f, 0.f, 0.f },
+ { 0.f, 0.f, 1.f, 0.f },
+ { 0.f, 0.f, 0.f, 1.f } };
+
+ // First, reflect through the origin by inverting all three axes.
+ smat[0][0] = -1.f;
+ smat[1][1] = -1.f;
+ smat[2][2] = -1.f;
+ MultMatrix(tmat, camera_info[c].mat, smat);
+
+ // Scale x and y coordinates by the focal length (allowing for non-square pixels
+ // and/or non-symmetrical lenses).
+ smat[0][0] = 1.0f / camera_intrinsics[c].focal_length[0];
+ smat[1][1] = 1.0f / camera_intrinsics[c].focal_length[1];
+ smat[2][2] = 1.0f;
+ MultMatrix(camera_info[c].mat, smat, tmat);
+
+ camera_info[c].principal_point = camera_intrinsics[c].principal_point;
+ camera_info[c].valid = true;
+
+ cameras_done++;
+ }
+
+exit:
+ cvReleaseImage(&gray_img);
+ cvReleaseImage(&tmp_img);
+ cvFree(&object_points);
+ cvFree(&points);
+
+ return cameras_done == num_cameras;
+}
+
+// fill in the real-world coordinates of the checkerboard points
+static void FillObjectPoints(CvPoint3D32f *obj_points, CvSize etalon_size, float square_size)
+{
+ int x, y, i;
+
+ for (y = 0, i = 0; y < etalon_size.height; y++)
+ {
+ for (x = 0; x < etalon_size.width; x++, i++)
+ {
+ obj_points[i].x = square_size * x;
+ obj_points[i].y = square_size * y;
+ obj_points[i].z = 0;
+ }
+ }
+}
+
+
+// Mark the points found on the input image
+// The marks are drawn multi-colored if all the points were found.
+static void DrawEtalon(IplImage *img, CvPoint2D32f *corners,
+ int corner_count, CvSize etalon_size, int draw_ordered)
+{
+ const int r = 4;
+ int i;
+ int x, y;
+ CvPoint prev_pt = { 0, 0 };
+ static const CvScalar rgb_colors[] = {
+ {{0,0,255}},
+ {{0,128,255}},
+ {{0,200,200}},
+ {{0,255,0}},
+ {{200,200,0}},
+ {{255,0,0}},
+ {{255,0,255}} };
+ static const CvScalar gray_colors[] = {
+ {{80}}, {{120}}, {{160}}, {{200}}, {{100}}, {{140}}, {{180}}
+ };
+ const CvScalar* colors = img->nChannels == 3 ? rgb_colors : gray_colors;
+
+ CvScalar color = colors[0];
+ for (y = 0, i = 0; y < etalon_size.height; y++)
+ {
+ if (draw_ordered)
+ color = colors[y % ARRAY_SIZEOF(rgb_colors)];
+
+ for (x = 0; x < etalon_size.width && i < corner_count; x++, i++)
+ {
+ CvPoint pt;
+ pt.x = cvRound(corners[i].x);
+ pt.y = cvRound(corners[i].y);
+ if (img->origin == IPL_ORIGIN_BL)
+ pt.y = img->height - 1 - pt.y;
+
+ if (draw_ordered)
+ {
+ if (i != 0)
+ cvLine(img, prev_pt, pt, color, 1, CV_AA);
+ prev_pt = pt;
+ }
+
+ cvLine( img, cvPoint(pt.x - r, pt.y - r),
+ cvPoint(pt.x + r, pt.y + r), color, 1, CV_AA );
+ cvLine( img, cvPoint(pt.x - r, pt.y + r),
+ cvPoint(pt.x + r, pt.y - r), color, 1, CV_AA );
+ cvCircle( img, pt, r+1, color, 1, CV_AA );
+ }
+ }
+}
+
+// Find the midpoint of the line segment between two points.
+static CvPoint3D32f midpoint(const CvPoint3D32f &p1, const CvPoint3D32f &p2)
+{
+ return cvPoint3D32f((p1.x+p2.x)/2, (p1.y+p2.y)/2, (p1.z+p2.z)/2);
+}
+
+static void operator +=(CvPoint3D32f &p1, const CvPoint3D32f &p2)
+{
+ p1.x += p2.x;
+ p1.y += p2.y;
+ p1.z += p2.z;
+}
+
+static CvPoint3D32f operator /(const CvPoint3D32f &p, int d)
+{
+ return cvPoint3D32f(p.x/d, p.y/d, p.z/d);
+}
+
+static const Cv3dTracker2dTrackedObject *find(const Cv3dTracker2dTrackedObject v[], int num_objects, int id)
+{
+ for (int i = 0; i < num_objects; i++)
+ {
+ if (v[i].id == id)
+ return &v[i];
+ }
+ return NULL;
+}
+
+#define CAMERA_POS(c) (cvPoint3D32f((c).mat[3][0], (c).mat[3][1], (c).mat[3][2]))
+
+//////////////////////////////
+// cv3dTrackerLocateObjects //
+//////////////////////////////
+CV_IMPL int cv3dTrackerLocateObjects(int num_cameras, int num_objects,
+ const Cv3dTrackerCameraInfo camera_info[], // size is num_cameras
+ const Cv3dTracker2dTrackedObject tracking_info[], // size is num_objects*num_cameras
+ Cv3dTrackerTrackedObject tracked_objects[]) // size is num_objects
+{
+ /*CV_FUNCNAME("cv3dTrackerLocateObjects");*/
+ int found_objects = 0;
+
+ // count how many cameras could see each object
+ std::map<int, int> count;
+ for (int c = 0; c < num_cameras; c++)
+ {
+ if (!camera_info[c].valid)
+ continue;
+
+ for (int i = 0; i < num_objects; i++)
+ {
+ const Cv3dTracker2dTrackedObject *o = &tracking_info[c*num_objects+i];
+ if (o->id != -1)
+ count[o->id]++;
+ }
+ }
+
+ // process each object that was seen by at least two cameras
+ for (std::map<int, int>::iterator i = count.begin(); i != count.end(); i++)
+ {
+ if (i->second < 2)
+ continue; // ignore object seen by only one camera
+ int id = i->first;
+
+ // find an approximation of the objects location for each pair of cameras that
+ // could see this object, and average them
+ CvPoint3D32f total = cvPoint3D32f(0, 0, 0);
+ int weight = 0;
+
+ for (int c1 = 0; c1 < num_cameras-1; c1++)
+ {
+ if (!camera_info[c1].valid)
+ continue;
+
+ const Cv3dTracker2dTrackedObject *o1 = find(&tracking_info[c1*num_objects],
+ num_objects, id);
+ if (o1 == NULL)
+ continue; // this camera didn't see this object
+
+ CvPoint3D32f p1a = CAMERA_POS(camera_info[c1]);
+ CvPoint3D32f p1b = ImageCStoWorldCS(camera_info[c1], o1->p);
+
+ for (int c2 = c1 + 1; c2 < num_cameras; c2++)
+ {
+ if (!camera_info[c2].valid)
+ continue;
+
+ const Cv3dTracker2dTrackedObject *o2 = find(&tracking_info[c2*num_objects],
+ num_objects, id);
+ if (o2 == NULL)
+ continue; // this camera didn't see this object
+
+ CvPoint3D32f p2a = CAMERA_POS(camera_info[c2]);
+ CvPoint3D32f p2b = ImageCStoWorldCS(camera_info[c2], o2->p);
+
+ // these variables are initialized simply to avoid erroneous error messages
+ // from the compiler
+ CvPoint3D32f r1 = cvPoint3D32f(0, 0, 0);
+ CvPoint3D32f r2 = cvPoint3D32f(0, 0, 0);
+
+ // find the intersection of the two lines (or the points of closest
+ // approach, if they don't intersect)
+ if (!intersection(p1a, p1b, p2a, p2b, r1, r2))
+ continue;
+
+ total += midpoint(r1, r2);
+ weight++;
+ }
+ }
+
+ CvPoint3D32f center = total/weight;
+ tracked_objects[found_objects++] = cv3dTrackerTrackedObject(id, center);
+ }
+
+ return found_objects;
+}
+
+#define EPS 1e-9
+
+// Compute the determinant of the 3x3 matrix represented by 3 row vectors.
+static inline double det(CvPoint3D32f v1, CvPoint3D32f v2, CvPoint3D32f v3)
+{
+ return v1.x*v2.y*v3.z + v1.z*v2.x*v3.y + v1.y*v2.z*v3.x
+ - v1.z*v2.y*v3.x - v1.x*v2.z*v3.y - v1.y*v2.x*v3.z;
+}
+
+static CvPoint3D32f operator +(CvPoint3D32f a, CvPoint3D32f b)
+{
+ return cvPoint3D32f(a.x + b.x, a.y + b.y, a.z + b.z);
+}
+
+static CvPoint3D32f operator -(CvPoint3D32f a, CvPoint3D32f b)
+{
+ return cvPoint3D32f(a.x - b.x, a.y - b.y, a.z - b.z);
+}
+
+static CvPoint3D32f operator *(CvPoint3D32f v, double f)
+{
+ return cvPoint3D32f(f*v.x, f*v.y, f*v.z);
+}
+
+
+// Find the intersection of two lines, or if they don't intersect,
+// the points of closest approach.
+// The lines are defined by (o1,p1) and (o2, p2).
+// If they intersect, r1 and r2 will be the same.
+// Returns false on error.
+static bool intersection(CvPoint3D32f o1, CvPoint3D32f p1,
+ CvPoint3D32f o2, CvPoint3D32f p2,
+ CvPoint3D32f &r1, CvPoint3D32f &r2)
+{
+ CvPoint3D32f x = o2 - o1;
+ CvPoint3D32f d1 = p1 - o1;
+ CvPoint3D32f d2 = p2 - o2;
+
+ CvPoint3D32f cross = cvPoint3D32f(d1.y*d2.z - d1.z*d2.y,
+ d1.z*d2.x - d1.x*d2.z,
+ d1.x*d2.y - d1.y*d2.x);
+ double den = cross.x*cross.x + cross.y*cross.y + cross.z*cross.z;
+
+ if (den < EPS)
+ return false;
+
+ double t1 = det(x, d2, cross) / den;
+ double t2 = det(x, d1, cross) / den;
+
+ r1 = o1 + d1 * t1;
+ r2 = o2 + d2 * t2;
+
+ return true;
+}
+
+// Convert from image to camera space by transforming point p in
+// the image plane by the camera matrix.
+static CvPoint3D32f ImageCStoWorldCS(const Cv3dTrackerCameraInfo &camera_info, CvPoint2D32f p)
+{
+ float tp[4];
+ tp[0] = (float)p.x - camera_info.principal_point.x;
+ tp[1] = (float)p.y - camera_info.principal_point.y;
+ tp[2] = 1.f;
+ tp[3] = 1.f;
+
+ float tr[4];
+ //multiply tp by mat to get tr
+ MultVectorMatrix(tr, tp, camera_info.mat);
+
+ return cvPoint3D32f(tr[0]/tr[3], tr[1]/tr[3], tr[2]/tr[3]);
+}
+
+// Multiply affine transformation m1 by the affine transformation m2 and
+// return the result in rm.
+static void MultMatrix(float rm[4][4], const float m1[4][4], const float m2[4][4])
+{
+ for (int i=0; i<=3; i++)
+ for (int j=0; j<=3; j++)
+ {
+ rm[i][j]= 0.0;
+ for (int k=0; k <= 3; k++)
+ rm[i][j] += m1[i][k]*m2[k][j];
+ }
+}
+
+// Multiply the vector v by the affine transformation matrix m and return the
+// result in rv.
+void MultVectorMatrix(float rv[4], const float v[4], const float m[4][4])
+{
+ for (int i=0; i<=3; i++)
+ {
+ rv[i] = 0.f;
+ for (int j=0;j<=3;j++)
+ rv[i] += v[j] * m[j][i];
+ }
+}
projects / opencv / blobdiff